Blender animation using MakeHuman files
There are two different rig-types available rigify and mhx you need to enable the corresponding addon in the User Preferences.

MakeHuman rig (mhx)



Rigify


The bones are organized in layers, with the addon enabled you get buttons to select them, in Pose Mode you can setup poses and keyframe them.



Same for rigify:


Related:


How should an animated character be moved while repeating a walk cycle?
What are the not so obvious features of Rigify?
how to do custom animation in a mhx file made using Makehuman